CN217938193U - Acupoint massage device - Google Patents
Acupoint massage device Download PDFInfo
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- CN217938193U CN217938193U CN202220733509.7U CN202220733509U CN217938193U CN 217938193 U CN217938193 U CN 217938193U CN 202220733509 U CN202220733509 U CN 202220733509U CN 217938193 U CN217938193 U CN 217938193U
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Abstract
The utility model relates to a core component of an automatic palpation massage instrument, in particular to an acupuncture point palpation massage device which has better safety and can carry out accurate positioning on acupuncture points or other parts of a human body and is used for palpation massage operation, and the device is provided with an electric sliding table, a pressing device, a force sensor and a pressing safety device; the electric sliding table is driven by a servo motor, and a sliding block and an electromagnetic band-type brake are arranged on the electric sliding table; the pressing device is loaded on a sliding block of the electric sliding table and is provided with a base, a pressing rod limiting guide piece, a pressing piece, a compression spring and a compression spring limiting piece; the force sensor is arranged between the pressing rod and the pressing piece of the pressing device; the pressing safety device is a normally closed electromagnet or an electromagnetic chuck, an armature and an armature limiting piece, and is loaded on the limiting guide piece of the pressing rod. The limit guide piece of the pressing rod can be provided with two linear bearings which are respectively arranged at the lower ends of the base and the sliding table of the pressing device, or are arranged on the base of the pressing device by means of a guide pipe.
Description
Technical Field
The utility model relates to a diagnosis and massage apparatus, in particular to a core component of an automatic diagnosis and massage apparatus.
Background
The examination is the process of collecting the health or illness data of the patient, and provides the basis for diagnosis and treatment. The palpation is the basic method for acupoint diagnosis, and is also the method for examining tender points and sharp pain points. The long history of palpation of the acupoints, and the examination of pressure pain points and irritation pain points also have important clinical significance. Massage is an effective medical care technique. The push massage devices are constantly being improved.
The applicant discloses an asi acupoint examination massage robot in a chinese patent application with a publication number CN101766535A, which is provided with a control center, a visual positioning device, a mechanical movement device, a pressing force monitoring device, an operation board and a voice device. The pressing massage device of the Ashi point examination massage robot adopts an automatic pressurization method, has better safety, but is only limited in the vertical direction, and is heavy.
The applicant discloses an automatic pressing device for a self-weight pressurizing method in a Chinese patent with the publication number of CN201861647U, which is provided with a programmable controller, a touch screen, a pressing device, a transmitter and an analog-to-digital converter, wherein the pressing device adopts the automatic pressurizing method and comprises the self-weight pressurizing device; it is only suitable for performing metered pressing in the vertical direction, and the pressing device is heavy.
The applicant discloses an automatic acupuncture point palpation device in Chinese patent application with publication number CN111053532A, which is provided with an electric cylinder, a pressing device, a force measuring sensor and a pressing safety device, can perform palpation operation in any direction, and ensures that the pressing device is not heavy. However, the lower end of the pressing member is not accurately and stably directed, so that the pressing direction is not accurate enough.
Disclosure of Invention
The utility model aims at providing an acupuncture point massage device that can massage according to the doctor automatically, its security is better, can fix a position accurate massage operation according to the doctor to human acupuncture point or other positions in arbitrary direction.
In order to achieve the above purpose, the utility model adopts a technical scheme as follows:
an acupuncture point palpation massage device comprises an electric sliding table, a pressing device, a force sensor and a pressing safety device;
the electric sliding table comprises a servo motor, a screw rod, a sliding block and an electromagnetic band-type brake, the screw rod is connected with an output shaft of the servo motor, the sliding block is movably connected with the screw rod, and the electromagnetic band-type brake is used for locking the output shaft of the servo motor when power is off;
the pressing device comprises a base, a pressing rod limiting guide part, a pressing part, a compression spring and a compression spring limiting part, wherein the pressing rod limiting guide part comprises a linear bearing A and a linear bearing B; the compression spring is sleeved on the pressing rod and is positioned above the linear bearing A, the compression spring limiting piece is arranged at the upper end of the pressing rod and is positioned between the compression spring and the linear bearing A, and the pressing piece is arranged at the bottom end of the pressing rod;
the force sensor is arranged between the pressing piece and the pressing rod;
press safeties and include electro-magnet, armature and armature locating part, the electro-magnet sets up according to pressure lever and compression spring side and is located linear bearing first top, armature locating part sets up according to the pressure lever top, the armature cover is established according to the pressure lever, and armature is located between armature locating part and the compression spring.
Further, the linear bearing second outside still is equipped with stand pipe and stand pipe locating part, stand pipe locating part fixed connection is equipped with spacing pore on the electronic slip table lower extreme on the stand pipe locating part, and the stand pipe cover just can reciprocate in establishing spacing pore, and the stand pipe top is connected with linear bearing first or base bottom, linear bearing first sets up in the stand pipe.
Further, the axes of the linear bearing A and the linear bearing B are positioned on the same straight line.
The utility model discloses another kind of technical scheme as follows:
an acupuncture point palpation massage device comprises an electric sliding table, a pressing device, a force sensor and a pressing safety device;
the electric sliding table comprises a servo motor, a screw rod, a sliding block and an electromagnetic band-type brake, the screw rod is connected with an output shaft of the servo motor, the sliding block is movably connected with the screw rod, and the electromagnetic band-type brake is used for locking the output shaft of the servo motor when power is off;
the pressing device comprises a base, a pressing rod limiting guide part, a pressing part, a compression spring and a compression spring limiting part, wherein the pressing rod limiting guide part comprises an upper limiting part, a lower limiting part, a guide pipe, a linear bearing C and a linear bearing D;
the pressing rod is arranged in the linear bearing C and the linear bearing D, and the length of the pressing rod is greater than that of the guide pipe; the compression spring is sleeved on the pressing rod and is positioned above the upper limiting piece, the compression spring limiting piece is arranged at the upper end of the pressing rod and is positioned between the compression spring and the upper limiting piece, and the pressing piece is arranged at the bottom end of the pressing rod;
the force sensor is arranged between the pressing piece and the pressing rod;
press safeties and include electro-magnet, armature and armature locating part, the electro-magnet sets up according to depression bar and compression spring side and is located spacing top, armature locating part sets up according to the depression bar top, the armature cover is established according to the depression bar, and armature is located between armature locating part and the compression spring.
Furthermore, the electromagnet can be replaced by an electromagnetic chuck, the electromagnetic chuck is divided into a first electromagnetic chuck and a second electromagnetic chuck which are the same, the first electromagnetic chuck and the second electromagnetic chuck are connected with the same circuit, and the first electromagnetic chuck and the second electromagnetic chuck are respectively arranged on two sides of the pressing rod and the compression spring and are positioned above the linear bearing A; the circuit of the electromagnetic chuck is a normally closed type.
The utility model discloses an acupuncture point massage device that presses the doctor has following advantage:
(1) Multiple safety measures are arranged, and the safety is better. In particular, a pressing safety device is provided, and when the circuit is cut off or the power is cut off accidentally, the electromagnetic brake circuit of the pressing safety device is disconnected, and the pressing is released.
(2) The device is light, and the loading direction of the electric sliding table can be changed, so that the device can be pressed in any direction; the pressing device is also relatively portable and sensitive.
(3) The device comprises a compression spring, and can soften the pressing operation of the palpation, which is closer to the manual pressing operation.
(4) The device can be loaded on a bracket or a robot (mechanical arm) to realize the palpation massage operation of acupuncture points or other parts of the body at various angles.
(5) The direction is pressed to this device receives better restraint, and the device operation is pressed the difficult rocking of depression bar, can carry out more accurate location to positions such as acupuncture point and press.
Drawings
Fig. 1 is a schematic view of the main view structure of the acupoint massage device in embodiment 1 of the present invention.
Fig. 2 is a schematic side view of the massage device for acupoint palpation in embodiment 1 of the present invention.
Fig. 3 is a schematic view of a main view structure of the electric sliding table in embodiment 1 of the present invention.
Fig. 4 is a schematic top view of the pressing rod limiting guide according to embodiment 1 of the present invention.
Fig. 5 is a plan view of an armature according to embodiment 1 of the present invention.
Fig. 6 is a schematic structural view of a pressing device in embodiment 1 of the present invention.
Fig. 7 is a schematic structural view of the acupoint massage device according to the present invention in embodiment 2.
Fig. 8 is a schematic side view of the massage device for acupoint palpation in embodiment 2 of the present invention.
Fig. 9 is a schematic top view of a pressing rod limiting guide according to embodiment 2 of the present invention.
The reference signs explain:
1-an electric sliding table, 11-a servo motor, 12-an electromagnetic band-type brake and 13-a sliding block;
2-a pressing device, 21-a base, 22-a linear bearing A, 23-a linear bearing B, 24-a pressing rod, 25-a pressing piece, 26-a compression spring, 27-a compression spring limiting piece, 28-a pressing rod limiting guide piece, 29-an upper limiting piece, 30-a lower limiting piece, 31-a guide pipe, 32-a linear bearing C and 33-a linear bearing D;
3-a force sensor;
4-pressing safety device, 41-electromagnetic chuck, 411-electromagnetic chuck A, 412-electromagnetic chuck B, 42-armature and 43-armature limit piece.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail with reference to the accompanying drawings and detailed description. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and the present invention is not limited to the specific embodiments disclosed below.
Example 1
The acupoint diagnosis-pressing massage device shown in fig. 1 to 6 comprises an electric sliding table 1, a pressing device 2, a force sensor 3 and a pressing safety device 4, wherein the electric sliding table 1 comprises a servo motor 11, a screw rod, a sliding block 13 and an electromagnetic band-type brake 12, the screw rod is connected with an output shaft of the servo motor 11, the sliding block is movably connected with the screw rod, and the electromagnetic band-type brake 12 is used for locking the screw rod and the output shaft of the servo motor 11 when power is off so as to stop the movement of the sliding block 13.
The pressing device 2 comprises a base 21, a pressing rod 24, a pressing rod limiting guide 28, a pressing piece 25, a compression spring 26 and a compression spring limiting piece 27, wherein the pressing rod limiting guide 28 comprises a linear bearing A22 and a linear bearing B23, the base 21 is connected with the slider 13, the linear bearing A22 is connected with the base 21, the linear bearing B23 is arranged at the lower end of the body of the electric sliding table 1, the pressing rod 24 is arranged in the linear bearing A22 and the linear bearing B23, the top end of the pressing rod 24 extends out of the linear bearing A22, and the bottom end of the pressing rod 24 extends out of the linear bearing B23; the compression spring 26 is sleeved on the pressing rod 24 and is positioned above the linear bearing first 22, the compression spring limiting piece 27 is arranged at the upper end of the pressing rod 24 and is positioned between the compression spring 26 and the linear bearing first 22, and the compression spring limiting piece 27 is used for preventing the compression spring 26 from moving downwards; the pressing piece 25 is arranged at the bottom end of the pressing rod 24. The linear bearings A22 and B23 can limit the position and the movement direction of the pressing rod 24.
The force sensor 3 is arranged between the pressing piece 25 and the pressing rod 24, the near end of the force sensor 3 is connected with the bottom end of the pressing rod 24, and the far end of the force sensor 3 is connected with the pressing piece 25; the force sensor 3 is electrically connected with an external pressing control system. The force sensor 3 is used for monitoring pressing force and testing pressing reaction (such as pressing pain), provides control information for an external pressing control system, and achieves pressing massage operation and guarantees safety.
In this embodiment, the pressing safety device 4 includes an electromagnetic chuck 41, an armature 42 and an armature position limiting member 43, a circuit of the electromagnetic chuck 41 is a normally closed type, the electromagnetic chuck 41 is divided into a first electromagnetic chuck 411 and a second electromagnetic chuck 412 which are the same, the first electromagnetic chuck 411 and the second electromagnetic chuck 412 are connected to the same circuit, and the first electromagnetic chuck 411 and the second electromagnetic chuck 412 are respectively disposed on two sides of the pressing rod 24 and the compression spring 26 and above the linear bearing a 22; the armature position-limiting piece 43 is arranged at the top end of the pressing rod 24, the armature 42 is sleeved on the pressing rod 24 and contacts with the compression spring 26, and the armature 42 is located between the armature position-limiting piece 43 and the compression spring 26.
On the basis of the above-mentioned embodiment, the linear bearing second 23 outside of the device can also set up stand pipe and stand pipe locating part (not shown in the figure), stand pipe locating part fixed connection is equipped with spacing pore on the stand pipe locating part at electronic slip table 1 lower extreme, and the stand pipe cover is established in the spacing pore and can be reciprocated, and the stand pipe top is connected with linear bearing first 22 or base 21 bottom, linear bearing first 22 sets up in the stand pipe. The axes of the linear bearing A22 and the linear bearing B23 are positioned on the same straight line, so that the motion of the pressing rod 24 can be smoother.
Example 2
An acupuncture point palpation massage device as shown in fig. 7 to 9 comprises an electric sliding table 1, a pressing device 2, a force sensor 3 and a pressing safety device 4; electronic slip table 1 includes servo motor 11, lead screw, slider 13 and electromagnetism band-type brake 12, the lead screw and servo motor 11's output shaft, slider 13 and lead screw swing joint, electromagnetism band-type brake 12 is used for locking servo motor 11's output shaft when the outage.
In this embodiment, the pressing device 2 includes a base 21, a pressing rod 24, a pressing rod limiting guide 28, a pressing member 25, a compression spring 26, and a compression spring limiting member 27, where the pressing rod limiting guide 28 includes an upper limiting member 29, a lower limiting member 30, a guide tube 31, a linear bearing pin 32, and a linear bearing pin 33, the base 21 is connected to the slider 13, the upper limiting member 29 and the lower limiting member 30 are respectively disposed at the upper end and the lower end of the base 21, the upper limiting member 29 and the lower limiting member 30 are both provided with a through hole, the guide tube 31 passes through the through hole and is fixedly connected to the upper limiting member 29 and the lower limiting member 30, the guide tube 31 has a sufficient length to guide accurately, the bottom end of the guide tube 31 extends out of the lower limiting member 30, the linear bearing pin 32 is disposed at the upper end in the guide tube 31, and the linear bearing pin 33 is disposed at the lower end in the guide tube 31. One or two linear bearings can be additionally arranged between the linear bearing C32 and the linear bearing T33 in the guide pipe 31 according to actual requirements, and the axes of all the linear bearings are positioned on the same straight line, so that the motion of the pressing rod 24 is smoother.
Wherein the pressing rod 24 is arranged in the linear bearing C32 and the linear bearing D33, and the length of the pressing rod 24 is greater than that of the guide tube 31; compression spring 26 overlaps and is located spacing 29 top on pressing rod 24, and compression spring spacing 27 sets up and is located compression spring 26 and spacing 29 between pressing rod 24 upper end, pressing piece 25 sets up in pressing rod 24 bottom.
Wherein the force sensor 3 is arranged between the pressing piece 25 and the pressing rod 24; the massage device is used for monitoring pressing force and testing pressing reaction (such as tenderness), provides control information for an external pressing control system, and realizes pressing massage operation and ensures safety.
The pressing safety device 4 includes an electromagnet or an electromagnetic chuck 41, an armature 42 and an armature position limiting member 43, in this embodiment, the electromagnetic chuck 41 is adopted, a circuit of the electromagnetic chuck 41 is a normally closed type, the electromagnetic chuck 41 is divided into a first electromagnetic chuck 411 and a second electromagnetic chuck 412 which are the same, the first electromagnetic chuck 411 and the second electromagnetic chuck 412 are connected with the same circuit, the first electromagnetic chuck 411 and the second electromagnetic chuck 412 are respectively arranged on the side surfaces of the pressing rod 24 and the compression spring 26 and located above the upper position limiting member 29, the armature position limiting member 43 is arranged at the top end of the pressing rod 24, the armature 42 is sleeved on the pressing rod 24, and the armature 42 is located between the armature position limiting member 43 and the compression spring 26.
The acupoint massage device in the utility model is used as a core component of an automatic massage instrument, and is usually required to be installed on a support or loaded on a mechanical arm and a robot for use. The servo motor 11 is usually controlled by an external PLC, a single chip microcomputer or a computer system to realize the operation of pressing a doctor and massaging.
When the device is used, after an external power supply is switched on, the electromagnetic chuck 41 tightly sucks the armature 42 to prevent the compression spring 26 from moving upwards; after the servo motor 11 operates, the sliding block 13 linearly moves downwards along the screw rod of the electric sliding table 1, so as to drive the base 21 and the pressing rod 24 to linearly move downwards along the electric sliding table 1. When the pressing piece 25 at the bottom end of the pressing rod 24 just contacts with a human body, the force sensor 3 measures the pressure, and the external controller receives signals to control the device to enter a palpation and massage manipulation mode; when the manipulation mode is finished or the force sensor 3 measures that the pressing force reaches the preset maximum value, the servo motor 11 stops returning, the pressing is relieved, and one-time pressing massage operation is finished. When the power supply is cut off, the electromagnetic band-type brake 12 locks the output shaft of the motor, the screw rod stops rotating, the sliding block 13 cannot move, at the moment, the magnetism between the electromagnetic suction cup 41 and the armature 42 disappears, and the elastic force of the compression spring 26 can enable the pressing rod 24 and the pressing piece 25 to move upwards.
The electromagnetic chuck 41 or the electromagnet of the acupoint massage device of the utility model is a normally closed circuit. When the power is on, the electromagnetic chuck 41 attracts the armature 42, the compression spring 26 cannot move towards the end of the pressing rod 24 close to the motor, and the upward movement of the pressing rod 24 is limited; when the power is off, the armature 42 is not restricted by the electromagnet 41, and the restriction of the upward movement of the pressing rod 24 is released. When the pressing member 25 is pressed against the human body during the pressing and massaging operation, the compression spring 26 is compressed by the reaction force, and the pressing operation can be softened, but the pressing member cannot move toward the end of the pressing rod 24 near the motor. When the power is cut off, the armature 42 loses the attraction force of the electromagnetic chuck 41 and can move towards the end of the pressing rod 24 close to the motor, and the pressing rod 24 and the pressing piece 25 move along with the movement to release the pressing. Therefore, the pressing can be automatically or manually released to play a role in protection and safety no matter whether the power is cut off accidentally or the instrument is out of control due to program problems and the like.
The device is provided with a linear bearing A22, a linear bearing B23 or a linear bearing C32 and a linear bearing D33, so that the pressing rod 24 can smoothly move up and down, the linearity of the movement of the pressing rod 24 is well limited, and the accuracy of the pressing direction is guaranteed. The guide tube 31 is beneficial to rapidly and accurately assembling the two linear bearings on the same axis, and the processing and assembling difficulty of the device is reduced.
Claims (4)
1. An acupuncture point palpation massage device, which comprises an electric sliding table, a pressing device, a force sensor and a pressing safety device, and is characterized in that,
the electric sliding table comprises a servo motor, a screw rod, a sliding block and an electromagnetic band-type brake, the screw rod is connected with an output shaft of the servo motor, the sliding block is movably connected with the screw rod, and the electromagnetic band-type brake is used for locking the output shaft of the servo motor when power is off;
the pressing device comprises a base, a pressing rod limiting guide part, a pressing part, a compression spring and a compression spring limiting part, wherein the pressing rod limiting guide part comprises a linear bearing A and a linear bearing B, the base is connected with the sliding block, the linear bearing A is connected with the base, the linear bearing B is arranged at the lower end of the electric sliding table, the pressing rod is arranged in the linear bearing A and the linear bearing B, the top end of the pressing rod extends out of the linear bearing A, and the bottom end of the pressing rod extends out of the linear bearing B; the compression spring is sleeved on the pressing rod and is positioned above the linear bearing A, the compression spring limiting piece is arranged at the upper end of the pressing rod and is positioned between the compression spring and the linear bearing A, and the pressing piece is arranged at the bottom end of the pressing rod;
the force sensor is arranged between the pressing piece and the pressing rod;
press safeties and include electro-magnet, armature and armature locating part, the electro-magnet sets up according to pressure lever and compression spring side and is located linear bearing first top, armature locating part sets up according to the pressure lever top, the armature cover is established according to the pressure lever, and armature is located between armature locating part and the compression spring.
2. The acupoint pressure massage apparatus according to claim 1, wherein the axes of the linear bearings A and B are located on the same straight line.
3. An acupoint massage device for pressing a doctor comprises an electric sliding table, a pressing device, a force sensor and a pressing safety device, and is characterized in that,
the electric sliding table comprises a servo motor, a screw rod, a sliding block and an electromagnetic band-type brake, the screw rod is connected with an output shaft of the servo motor, the sliding block is movably connected with the screw rod, and the electromagnetic band-type brake is used for locking the output shaft of the servo motor when power is off;
the pressing device comprises a base, a pressing rod limiting guide part, a pressing part, a compression spring and a compression spring limiting part, wherein the pressing rod limiting guide part comprises an upper limiting part, a lower limiting part, a guide pipe, a linear bearing C and a linear bearing D;
the pressing rod is arranged in the linear bearing C and the linear bearing D, and the length of the pressing rod is greater than that of the guide pipe; the compression spring is sleeved on the pressing rod and is positioned above the upper limiting piece, the compression spring limiting piece is arranged at the upper end of the pressing rod and is positioned between the compression spring and the upper limiting piece, and the pressing piece is arranged at the bottom end of the pressing rod;
the force sensor is arranged between the pressing piece and the pressing rod;
press safeties and include electro-magnet, armature and armature locating part, the electro-magnet sets up according to depression bar and compression spring side and is located spacing top, armature locating part sets up according to the depression bar top, the armature cover is established according to the depression bar, and armature is located between armature locating part and the compression spring.
4. The acupoint pressure-diagnosis massage device according to any one of claims 1 to 3, wherein the electromagnet can be replaced by an electromagnetic chuck, the electromagnetic chucks are divided into an electromagnetic chuck A and an electromagnetic chuck B which are the same, the electromagnetic chuck A and the electromagnetic chuck B are connected with the same circuit, and are respectively arranged on two sides of the pressing rod and the compression spring and are positioned above the linear bearing A; the circuit of the electromagnetic chuck is a normally closed type.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220733509.7U CN217938193U (en) | 2022-03-31 | 2022-03-31 | Acupoint massage device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220733509.7U CN217938193U (en) | 2022-03-31 | 2022-03-31 | Acupoint massage device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217938193U true CN217938193U (en) | 2022-12-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220733509.7U Active CN217938193U (en) | 2022-03-31 | 2022-03-31 | Acupoint massage device |
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| CN (1) | CN217938193U (en) |
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- 2022-03-31 CN CN202220733509.7U patent/CN217938193U/en active Active
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